Indirect adaptive interval type-2 fuzzy output feedback controller for MIMO nonlinear systems

Author

Mousavi, Seyyed Hossein ; Sahraei, Bijan Ranjbar ; Noroozi, Navid ; Shabaninia, Faridoon

Author_Institution

Sch. of Electr. & Comput. Engeneering, Shiraz Univ., Shiraz, Iran

fYear

2010

fDate

10-12 Aug. 2010

Firstpage

95

Lastpage

100

Abstract

This paper proposes an adaptive robust fuzzy controller for the tracking problem of a class of uncertain nonlinear MIMO systems. The control signal is comprised of two parts. One part is an adaptive fuzzy controller which approximates the system unknown functions using an interval type-2 fuzzy approximator. The other part is an H_∞ based controller that is applied to attenuate the effect of disturbance and approximation error. Moreover, it is assumed that only output variables are measurable. Therefore, a state observer is carried out to estimate the system states. To illustrate the effectiveness and resilience behavior of the proposed controller, simulation results for a two DOF robotic manipulator are presented.

Keywords

H^∞ control; MIMO systems; adaptive control; approximation theory; fuzzy control; manipulators; nonlinear control systems; observers; robust control; state feedback; uncertain systems; H_∞ based controller; adaptive robust fuzzy controller; approximation error; fuzzy approximator; indirect adaptive interval type-2 fuzzy output feedback controller; state observer; two DOF robotic manipulator; uncertain nonlinear MIMO system; Adaptive systems; Approximation methods; Equations; Fuzzy logic; MIMO; Mathematical model; Observers; H∞ control; MIMO control; interval type-2 fuzzy; robotic manipulator control;

fLanguage

English

Publisher

ieee

Conference_Titel

Resilient Control Systems (ISRCS), 2010 3rd International Symposium on

Conference_Location

Idaho Falls, ID

Print_ISBN

978-1-4244-5955-1

Type

conf

DOI

10.1109/ISRCS.2010.5604028

Filename

5604028